IEEE Robotics and Automation Letters

Article	Citations
Fast Underwater Image Enhancement for Improved Visual Perception	545
FAST-LIO: A Fast, Robust LiDAR-Inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter	251
DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor With Application to In-Hand Manipulation	194
A General Framework for Uncertainty Estimation in Deep Learning	146
Multi-Sensor Guided Hand Gesture Recognition for a Teleoperated Robot Using a Recurrent Neural Network	132
What the Constant Velocity Model Can Teach Us About Pedestrian Motion Prediction	130
An Efficient Sampling-Based Method for Online Informative Path Planning in Unknown Environments	130
Cooperative Control of Heterogeneous Connected Vehicle Platoons: An Adaptive Leader-Following Approach	128
Towards High-Performance Solid-State-LiDAR-Inertial Odometry and Mapping	128
A Dexterous Soft Robotic Hand for Delicate In-Hand Manipulation	126
EGO-Planner: An ESDF-Free Gradient-Based Local Planner for Quadrotors	126
Deep Neural Network Approach in Robot Tool Dynamics Identification for Bilateral Teleoperation	124
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection	124
DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams	123
Mobile Robot Path Planning in Dynamic Environments Through Globally Guided Reinforcement Learning	118
Lio-A Personal Robot Assistant for Human-Robot Interaction and Care Applications	117
On an Improved State Parametrization for Soft Robots With Piecewise Constant Curvature and Its Use in Model Based Control	114
Nonlinear MPC for Collision Avoidance and Control of UAVs With Dynamic Obstacles	114
Online Trajectory Generation With Distributed Model Predictive Control for Multi-Robot Motion Planning	113
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research	111
BADGR: An Autonomous Self-Supervised Learning-Based Navigation System	111
CNN-Based Lidar Point Cloud De-Noising in Adverse Weather	111
Data-Driven MPC for Quadrotors	110
DeepGait: Planning and Control of Quadrupedal Gaits Using Deep Reinforcement Learning	107
Pixel-Level Extrinsic Self Calibration of High Resolution LiDAR and Camera in Targetless Environments	107

Learning Robust Control Policies for End-to-End Autonomous Driving From Data-Driven Simulation	107
Distributed Proprioception of 3D Configuration in Soft, Sensorized Robots via Deep Learning	106
Cross-View Semantic Segmentation for Sensing Surroundings	106
DynaSLAM II: Tightly-Coupled Multi-Object Tracking and SLAM	105
R $^2$ LIVE: A Robust, Real-Time, LiDAR-Inertial-Visual Tightly-Coupled State Estimator and Mapping	99
CNN Based Road User Detection Using the 3D Radar Cube	98
Real-Time Fusion Network for RGB-D Semantic Segmentation Incorporating Unexpected Obstacle Detection for Road-Driving Images	97
Visual-Inertial Mapping With Non-Linear Factor Recovery	96
Spatiotemporal Relationship Reasoning for Pedestrian Intent Prediction	96
SLOAM: Semantic Lidar Odometry and Mapping for Forest Inventory	96
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation	95
TLIO: Tight Learned Inertial Odometry	95
Moving Object Segmentation in 3D LiDAR Data: A Learning-Based Approach Exploiting Sequential Data	92
Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control	92
A Teleoperation Framework for Mobile Robots Based on Shared Control	92
BALM: Bundle Adjustment for Lidar Mapping	91
DSEC: A Stereo Event Camera Dataset for Driving Scenarios	90
3D-MiniNet: Learning a 2D Representation From Point Clouds for Fast and Efficient 3D LIDAR Semantic Segmentation	89
FUEL: Fast UAV Exploration Using Incremental Frontier Structure and Hierarchical Planning	89
RLBench: The Robot Learning Benchmark & Learning Environment	89
Forecasting Trajectory and Behavior of Road-Agents Using Spectral Clustering in Graph-LSTMs	86
Grasping in the Wild: Learning 6DoF Closed-Loop Grasping From Low-Cost Demonstrations	86
ERASOR: Egocentric Ratio of Pseudo Occupancy-Based Dynamic Object Removal for Static 3D Point Cloud Map Building	85
Self-Supervised Learning of State Estimation for Manipulating Deformable Linear Objects	85
Ground-Aware Monocular 3D Object Detection for Autonomous Driving	83
Interactive Gibson Benchmark: A Benchmark for Interactive Navigation in Cluttered Environments	81
A Robust UAV System for Operations in a Constrained Environment	80
Robot Navigation in Crowds by Graph Convolutional Networks With Attention Learned From Human Gaze	78
Learning Force Control for Contact-Rich Manipulation Tasks With Rigid Position-Controlled Robots	78
Real-Time Semantic Segmentation With Fast Attention	77
Control Oriented Modeling of Soft Robots: The Polynomial Curvature Case	75
Autonomy in Physical Human-Robot Interaction: A Brief Survey	74
Track to Reconstruct and Reconstruct to Track	74
Real-Time Gait Phase Estimation for Robotic Hip Exoskeleton Control During Multimodal Locomotion	73
LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time	72
Sim2Real Predictivity: Does Evaluation in Simulation Predict Real-World Performance?	72
Augmented LiDAR Simulator for Autonomous Driving	71
DeepFactors: Real-Time Probabilistic Dense Monocular SLAM	71
Combining Events and Frames Using Recurrent Asynchronous Multimodal Networks for Monocular Depth Prediction	71
High-Speed Autonomous Drifting With Deep Reinforcement Learning	70
LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot With Kinematic Loops	69
Recovery RL: Safe Reinforcement Learning With Learned Recovery Zones	69
BiTraP: Bi-Directional Pedestrian Trajectory Prediction With Multi-Modal Goal Estimation	69
Multi-Agent Motion Planning for Dense and Dynamic Environments via Deep Reinforcement Learning	68
Structure-SLAM: Low-Drift Monocular SLAM in Indoor Environments	67
MinneApple: A Benchmark Dataset for Apple Detection and Segmentation	67
Range-Focused Fusion of Camera-IMU-UWB for Accurate and Drift-Reduced Localization	67
A Two-Stage Reinforcement Learning Approach for Multi-UAV Collision Avoidance Under Imperfect Sensing	66
Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry	66
Rolling in the Deep – Hybrid Locomotion for Wheeled-Legged Robots Using Online Trajectory Optimization	66

CoHOG: A Light-Weight, Compute-Efficient, and Training-Free Visual Place Recognition Technique for Changing Environments	66
Elastica: A Compliant Mechanics Environment for Soft Robotic Control	65
Cooperative Team Strategies for Multi-Player Perimeter-Defense Games	65
Particle Swarm Optimization for Cooperative Multi-Robot Task Allocation: A Multi-Objective Approach	64
Don’t Forget The Past: Recurrent Depth Estimation from Monocular Video	64
A Geometric Variable-Strain Approach for Static Modeling of Soft Manipulators With Tendon and Fluidic Actuation	63
M2DGR: A Multi-Sensor and Multi-Scenario SLAM Dataset for Ground Robots	63
TiltDrone: A Fully-Actuated Tilting Quadrotor Platform	62
Efficient Sampling-Based Maximum Entropy Inverse Reinforcement Learning With Application to Autonomous Driving	62
Message-Aware Graph Attention Networks for Large-Scale Multi-Robot Path Planning	61
UniFuse: Unidirectional Fusion for 360° Panorama Depth Estimation	61
Autonomous UAV Exploration of Dynamic Environments Via Incremental Sampling and Probabilistic Roadmap	61
Integrated Task Assignment and Path Planning for Capacitated Multi-Agent Pickup and Delivery	60
Direct LiDAR Odometry: Fast Localization With Dense Point Clouds	59
Corners for Layout: End-to-End Layout Recovery From 360 Images	59
Stepwise Goal-Driven Networks for Trajectory Prediction	58
Faster-LIO: Lightweight Tightly Coupled Lidar-Inertial Odometry Using Parallel Sparse Incremental Voxels	58
Mine Tunnel Exploration Using Multiple Quadrupedal Robots	58
Probabilistic Crowd GAN: Multimodal Pedestrian Trajectory Prediction Using a Graph Vehicle-Pedestrian Attention Network	58
A Deep Learning Approach to Grasping the Invisible	58
Panoptic Nuscenes: A Large-Scale Benchmark for LiDAR Panoptic Segmentation and Tracking	57
Unsupervised Depth Completion From Visual Inertial Odometry	57
Deep Reinforcement Learning for Safe Local Planning of a Ground Vehicle in Unknown Rough Terrain	57
Patchwork: Concentric Zone-Based Region-Wise Ground Segmentation With Ground Likelihood Estimation Using a 3D LiDAR Sensor	56
SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation With Surgical Robotics	56
EGAD! An Evolved Grasping Analysis Dataset for Diversity and Reproducibility in Robotic Manipulation	56
Multi-Class Road User Detection With 3+1D Radar in the View-of-Delft Dataset	55
Improving Multi-Agent Trajectory Prediction Using Traffic States on Interactive Driving Scenarios	55
ALPHRED: A Multi-Modal Operations Quadruped Robot for Package Delivery Applications	55
Full-Pose Manipulation Control of a Cable-Suspended Load With Multiple UAVs Under Uncertainties	54
LaneAF: Robust Multi-Lane Detection With Affinity Fields	54
Vision-Only Robot Navigation in a Neural Radiance World	54
Decentralized Multi-Agent Pursuit Using Deep Reinforcement Learning	54
Eye-in-Hand Visual Servoing Enhanced With Sparse Strain Measurement for Soft Continuum Robots	53
Spatiotemporal Camera-LiDAR Calibration: A Targetless and Structureless Approach	53
Inflatable Soft Wearable Robot for Reducing Therapist Fatigue During Upper Extremity Rehabilitation in Severe Stroke	53
ECG: Edge-aware Point Cloud Completion with Graph Convolution	53
Run Your Visual-Inertial Odometry on NVIDIA Jetson: Benchmark Tests on a Micro Aerial Vehicle	53
OriNet: Robust 3-D Orientation Estimation With a Single Particular IMU	52
Actor-Critic Reinforcement Learning for Control With Stability Guarantee	52
Perceptive Locomotion in Rough Terrain – Online Foothold Optimization	52
Multifunctional Remotely Actuated 3-DOF Supernumerary Robotic Arm Based on Magnetorheological Clutches and Hydrostatic Transmission Lines	52
Liquid-Metal Magnetic Soft Robot With Reprogrammable Magnetization and Stiffness	51
The ARMM System - Autonomous Steering of Magnetically-Actuated Catheters: Towards Endovascular Applications	51
Cooperative Localization and Unknown Currents Estimation Using Multiple Autonomous Underwater Vehicles	51
PVStereo: Pyramid Voting Module for End-to-End Self-Supervised Stereo Matching	51
UniGrasp: Learning a Unified Model to Grasp With Multifingered Robotic Hands	51
Towards the Long-Endurance Flight of an Insect-Inspired, Tailless, Two-Winged, Flapping-Wing Flying Robot	51
Object-Independent Human-to-Robot Handovers Using Real Time Robotic Vision	51
CorsNet: 3D Point Cloud Registration by Deep Neural Network	51
KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way	50
PRIMAL$_2$: Pathfinding Via Reinforcement and Imitation Multi-Agent Learning - Lifelong	50
Offline Assistance Optimization of a Soft Exosuit for Augmenting Ankle Power of Stroke Survivors During Walking	49
GLAS: Global-to-Local Safe Autonomy Synthesis for Multi-Robot Motion Planning With End-to-End Learning	49
Towards Efficient Human-Robot Collaboration With Robust Plan Recognition and Trajectory Prediction	49
Soft Magnetic Tactile Skin for Continuous Force and Location Estimation Using Neural Networks	49
WareVision: CNN Barcode Detection-Based UAV Trajectory Optimization for Autonomous Warehouse Stocktaking	48
A Model-Based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics	48
Attack Analysis and Resilient Control Design for Discrete-Time Distributed Multi-Agent Systems	48
Learning Variable Impedance Control for Contact Sensitive Tasks	48
Magnetic Control of a Steerable Guidewire Under Ultrasound Guidance Using Mobile Electromagnets	48
Two Shank-Mounted IMUs-Based Gait Analysis and Classification for Neurological Disease Patients	48
A Novel Pneumatic Soft Snake Robot Using Traveling-Wave Locomotion in Constrained Environments	48
Intensity-SLAM: Intensity Assisted Localization and Mapping for Large Scale Environment	47
A Learnt Approach for the Design of Magnetically Actuated Shape Forming Soft Tentacle Robots	47
A Novel Adaptive Controller for Robot Manipulators Based on Active Inference	47
SeqNet: Learning Descriptors for Sequence-Based Hierarchical Place Recognition	47
Simple, Low-Hysteresis, Foldable, Fabric Pneumatic Artificial Muscle	47
OmniDet: Surround View Cameras Based Multi-Task Visual Perception Network for Autonomous Driving	46
Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors	46
V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Driving	46
Automatic Normal Positioning of Robotic Ultrasound Probe Based Only on Confidence Map Optimization and Force Measurement	46
A sEMG-Driven Soft ExoSuit Based on Twisted String Actuators for Elbow Assistive Applications	46
The ARCHES Space-Analogue Demonstration Mission: Towards Heterogeneous Teams of Autonomous Robots for Collaborative Scientific Sampling in Planetary Exploration	46
Automatic Shape Control of Deformable Wires Based on Model-Free Visual Servoing	46
Scalable Cooperative Transport of Cable-Suspended Loads With UAVs Using Distributed Trajectory Optimization	46
Are We Ready for Unmanned Surface Vehicles in Inland Waterways? The USVInland Multisensor Dataset and Benchmark	45
Cooperative Aerial-Ground Multi-Robot System for Automated Construction Tasks	45
Direct Force Feedback Control and Online Multi-Task Optimization for Aerial Manipulators	45
Observer-Extended Direct Method for Collision Monitoring in Robot Manipulators Using Proprioception and IMU Sensing	45

DiSCO: Differentiable Scan Context With Orientation	45
Hybrid Systems Differential Dynamic Programming for Whole-Body Motion Planning of Legged Robots	45
Data–Driven Disturbance Observers for Estimating External Forces on Soft Robots	45
A Hybrid Compact Neural Architecture for Visual Place Recognition	45
A Real-Time Approach for Chance-Constrained Motion Planning With Dynamic Obstacles	45
Endo-Depth-and-Motion: Reconstruction and Tracking in Endoscopic Videos Using Depth Networks and Photometric Constraints	44
Benchmarking Bimanual Cloth Manipulation	44
Deep Compression for Dense Point Cloud Maps	44
Frozone: Freezing-Free, Pedestrian-Friendly Navigation in Human Crowds	44
A Dual Quaternion-Based Approach for Coordinate Calibration of Dual Robots in Collaborative Motion	44
OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Based Place Recognition	44
TACTO: A Fast, Flexible, and Open-Source Simulator for High-Resolution Vision-Based Tactile Sensors	44
Interaction-Aware Motion Prediction for Autonomous Driving: A Multiple Model Kalman Filtering Scheme	43
Multimodal Deep Generative Models for Trajectory Prediction: A Conditional Variational Autoencoder Approach	43
HD Map Update for Autonomous Driving With Crowdsourced Data	43
Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Driving in Challenging Terrain	43
Design of the High-Payload Flapping Wing Robot E-Flap	43
Multi-GAT: A Graphical Attention-Based Hierarchical Multimodal Representation Learning Approach for Human Activity Recognition	43
Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion	43
Vision-Based Drone Flocking in Outdoor Environments	43
Safe Robot Navigation Via Multi-Modal Anomaly Detection	43
Effect of Cognitive Fatigue, Operator Sex, and Robot Assistance on Task Performance Metrics, Workload, and Situation Awareness in Human-Robot Collaboration	42
Panoster: End-to-End Panoptic Segmentation of LiDAR Point Clouds	42
Learning Scheduling Policies for Multi-Robot Coordination With Graph Attention Networks	42
An Electrostatic/Gecko-Inspired Adhesives Soft Robotic Gripper	42
Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping	42
Human-Centered Collaborative Robots With Deep Reinforcement Learning	42
Air-to-Air Visual Detection of Micro-UAVs: An Experimental Evaluation of Deep Learning	42
A Supernumerary Robotic Leg Powered by Magnetorheological Actuators to Assist Human Locomotion	42
GN-Net: The Gauss-Newton Loss for Multi-Weather Relocalization	42
DiversityGAN: Diversity-Aware Vehicle Motion Prediction via Latent Semantic Sampling	41
Self-Supervised Learning for Precise Pick-and-Place Without Object Model	41
DDM: Fast Near-Optimal Multi-Robot Path Planning Using Diversified-Path and Optimal Sub-Problem Solution Database Heuristics	41
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments	41
PointTrackNet: An End-to-End Network For 3-D Object Detection and Tracking From Point Clouds	41
Model-Free Safety-Critical Control for Robotic Systems	41
Autonomous Quadrotor Flight Despite Rotor Failure With Onboard Vision Sensors: Frames vs. Events	41
Model-Based Meta-Reinforcement Learning for Flight With Suspended Payloads	41
Generation of GelSight Tactile Images for Sim2Real Learning	41
Learning-Based Real-Time Detection of Robot Collisions Without Joint Torque Sensors	41
DM-VIO: Delayed Marginalization Visual-Inertial Odometry	40
Non-Gaussian Chance-Constrained Trajectory Planning for Autonomous Vehicles Under Agent Uncertainty	40
Autonomous Tissue Retraction in Robotic Assisted Minimally Invasive Surgery – A Feasibility Study	40
Learning Variable Impedance Control via Inverse Reinforcement Learning for Force-Related Tasks	40
Perceptive Model Predictive Control for Continuous Mobile Manipulation	40
Super-Human Performance in Gran Turismo Sport Using Deep Reinforcement Learning	40
Visual Servoing of a Cable-Driven Soft Robot Manipulator With Shape Feature	40
Aerial Single-View Depth Completion With Image-Guided Uncertainty Estimation	40
OV$^{2}$SLAM: A Fully Online and Versatile Visual SLAM for Real-Time Applications	40
A Fabrication Free, 3D Printed, Multi-Material, Self-Sensing Soft Actuator	39
Modular Deep Reinforcement Learning for Continuous Motion Planning With Temporal Logic	39
Learning Fast Adaptation With Meta Strategy Optimization	39
RGGNet: Tolerance Aware LiDAR-Camera Online Calibration With Geometric Deep Learning and Generative Model	39
Optically Sensorized Elastomer Air Chamber for Proprioceptive Sensing of Soft Pneumatic Actuators	39
RSL-Net: Localising in Satellite Images From a Radar on the Ground	39
LiDAR SLAM With Plane Adjustment for Indoor Environment	39
Learning Task-Oriented Grasping From Human Activity Datasets	39
A Control Barrier Function Approach for Maximizing Performance While Fulfilling to ISO/TS 15066 Regulations	39
Socially and Contextually Aware Human Motion and Pose Forecasting	39
Underwater Soft Robot Modeling and Control With Differentiable Simulation	39
Tunable Multi-Modal Locomotion in Soft Dielectric Elastomer Robots	39
Cooperative Comfortable-Driving at Signalized Intersections for Connected and Automated Vehicles	38
Lightweight 3-D Localization and Mapping for Solid-State LiDAR	38
Liquid Pouch Motors: Printable Planar Actuators Driven by Liquid-to-Gas Phase Change for Shape-Changing Interfaces	38
In-Field Grape Cluster Size Assessment for Vine Yield Estimation Using a Mobile Robot and a Consumer Level RGB-D Camera	38
Introducing GARMI - A Service Robotics Platform to Support the Elderly at Home: Design Philosophy, System Overview and First Results	38
Vision-Based Autonomous Car Racing Using Deep Imitative Reinforcement Learning	38
Design and Control of a Highly Redundant Rigid-flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling	38
Do We Need to Compensate for Motion Distortion and Doppler Effects in Spinning Radar Navigation?	38
DCAD: Decentralized Collision Avoidance With Dynamics Constraints for Agile Quadrotor Swarms	38
Combining Speed and Separation Monitoring With Power and Force Limiting for Safe Collaborative Robotics Applications	38
UFOMap: An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown	38
Benchmarking Protocols for Evaluating Small Parts Robotic Assembly Systems	38
GPR-RCNN: An Algorithm of Subsurface Defect Detection for Airport Runway Based on GPR	37
Optimization-Based Distributed Flocking Control for Multiple Rigid Bodies	37
Learning Open-World Object Proposals Without Learning to Classify	37
Socially Compliant Robot Navigation in Crowded Environment by Human Behavior Resemblance Using Deep Reinforcement Learning	37
Automatic Labeling to Generate Training Data for Online LiDAR-Based Moving Object Segmentation	37
A Lifelong Learning Approach to Mobile Robot Navigation	37
Robust Three-Dimensional Shape Sensing for Flexible Endoscopic Surgery Using Multi-Core FBG Sensors	37
A Proprioceptive Bellows (PB) Actuator With Position Feedback and Force Estimation	37
Self-Supervised Correspondence in Visuomotor Policy Learning	37
Monocular 3D Detection With Geometric Constraint Embedding and Semi-Supervised Training	36
DeepTIO: A Deep Thermal-Inertial Odometry With Visual Hallucination	36
PLF-VINS: Real-Time Monocular Visual-Inertial SLAM With Point-Line Fusion and Parallel-Line Fusion	36
Monte-Carlo Tree Search for Efficient Visually Guided Rearrangement Planning	36
Semantic Histogram Based Graph Matching for Real-Time Multi-Robot Global Localization in Large Scale Environment	36
Towards FBG-Based Shape Sensing for Micro-Scale and Meso-Scale Continuum Robots With Large Deflection	36
Towards Better Surgical Instrument Segmentation in Endoscopic Vision: Multi-Angle Feature Aggregation and Contour Supervision	36
GA-Nav: Efficient Terrain Segmentation for Robot Navigation in Unstructured Outdoor Environments	36
Reinforcement Learned Distributed Multi-Robot Navigation With Reciprocal Velocity Obstacle Shaped Rewards	36
PTP: Parallelized Tracking and Prediction With Graph Neural Networks and Diversity Sampling	36
Marker-Less Micro Aerial Vehicle Detection and Localization Using Convolutional Neural Networks	36
A New Approach to 3D ICP Covariance Estimation	35
Visual Object Search by Learning Spatial Context	35